Get Joint Velocities
SUMMARY
Get Joint Velocities returns each joint's current angular velocity in deg/s, ordered base to wrist. Reads from the manipulator state - live values when connected, zero-filled offline.
UNITS
Returns joint velocities in deg/s, ordered base to wrist.
The Skill
python
joint_velocities = robot.get_joint_velocities()The Code
python
"""
Logs the manipulator's live joint velocities.
Supports Universal Robots (UR), Epson, and virtual.
Usage:
python get_joint_velocities.py [--ip <ROBOT_IP>]
"""
import argparse
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
def main(ip: str) -> None:
"""Log the live joint velocities [deg/s]."""
#===================== Create Robot ==========================================
robot = universal_robots.UniversalRobotsUR10E(name='UR10e')
try:
#===================== Connect Robot ==========================================
robot.connect(ip=ip)
# ==================== Run Skill ============================================
logger.success(f"joint_velocities [deg/s]: {robot.get_joint_velocities()}")
except (ConnectionError, OSError) as e:
logger.error(f"Error occurred: {e}")
finally:
robot.disconnect()
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Read joint velocities Synapse example")
parser.add_argument("--ip", type=str, default="192.168.1.100", help="UR robot IP address (default: 192.168.1.100)")
args = parser.parse_args()
main(ip=args.ip)python
"""
Read the manipulator's joint velocities.
Supports Universal Robots (UR), Epson, and virtual.
Usage:
python get_joint_velocities.py
"""
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
def main():
"""Log the commanded-cache joint velocities [deg/s]."""
#===================== Create Robot ==========================================
robot = universal_robots.UniversalRobotsUR10E(name='UR10e')
# ==================== Run Skill ============================================
logger.success(f"joint_velocities [deg/s]: {robot.get_joint_velocities()}")
if __name__ == "__main__":
main()Parameter Configuration
This skill takes no input parameters.
Returns
| Type | Description |
|---|---|
list[float] | Current joint velocities in deg/s, one value per joint, ordered base to wrist. Zero-filled offline. |
Where to Use the Skill
- Motion monitoring - Detect when the robot is decelerating or at rest.
- Velocity-based control loops - Use current velocity as feedback input.
- Dynamics logging - Record velocity profiles alongside position data.
When Not to Use the Skill
- You need TCP speed - use Get TCP Speed for end-effector velocity.
- You need joint positions - use Get Joint Positions instead.